// --------------------------------------------------------------------------------------------------------------------
// <copyright file="LandmarkTiltParams.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
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namespace Microsoft.Robotics.Vision.Runtime.GroundTruthExtraction
{
    using System;
    using System.Collections.Generic;
    using System.Linq;
    using System.Runtime.Serialization;
    using System.Text;
    using System.Threading.Tasks;

    /// <summary>
    /// Class encapsulating the landmark tilt parameters.
    /// It consists of 2 parameters which specify the tilt between the floor and horizontal plane
    /// Please follow steps in <![CDATA[http://sharepoint/sites/Baker/Baker%20Wiki/Calibrating%20landmarks%20and%20robot%20upward%20facing%20camera.aspx]]>
    /// to determine these parameters.
    /// </summary>
    [DataContract]
    public class LandmarkTiltParams
    {
        /// <summary>
        /// Floor to horizontal plane tilt angle in reference X - axis (the landmark x-axis projected to the floor.)
        /// </summary>
        [DataMember(Name = "FloorAzimuthAngle")]
        private double floorAzimuthAngle;

        /// <summary>
        /// Floor to horizontal plane tilt in the reference Y axis (Perpendicular to the reference X - axis).
        /// </summary>
        [DataMember(Name = "FloorTiltAngle")]
        private double floorTiltAngle;

        /// <summary>
        /// Initializes a new instance of the <see cref="LandmarkTiltParams"/> class.
        /// </summary>
        /// <param name="floorAzimuthAngle">Floor plane azimuth angle with respect to the plane perpendicular to gravity</param>
        /// <param name="floorTiltAngle">Floor plane tilt angle with respect to the plane perpendicular to gravity</param>       
        public LandmarkTiltParams(
            double floorAzimuthAngle,
            double floorTiltAngle)
        {
            this.floorAzimuthAngle = floorAzimuthAngle;
            this.floorTiltAngle = floorTiltAngle;
        }

        /// <summary>
        /// Gets or sets the TiltAngleX.
        /// </summary>
        public double FloorAzimuthAngle
        {
            get
            {
                return this.floorAzimuthAngle;
            }

            set
            {
                this.floorAzimuthAngle = value;
            }
        }

        /// <summary>
        /// Gets or sets the Tilt Angle in Y-axis .
        /// </summary>
        public double FloorTiltAngle
        {
            get
            {
                return this.floorTiltAngle;
            }

            set
            {
                this.floorTiltAngle = value;
            }
        }
    }
}
